Yes it is possible!
After you get the answer to my query, if axis (0,1,0) ends up needing a -ve rotational velocity and you just can’t wrap your brain around that, then put axis to (0,-1,0) and set rotational velocity to +ve 
This is a common issue and the User interface and help text boxes should be MUCH BETTER ( @jousefm and @StevenGu )